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2021-09-02 03:29:34 -0500 asked a question CMake error when trying to use gtest with ros2 foxy

CMake error when trying to use gtest with ros2 foxy Hello, I am trying to test one of my node, I tried to emulate what

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2021-08-09 09:20:10 -0500 commented question Messages Dropped in tf while running a Gmapping node

If the pointcloud_to_laserscan takes too much time too compute, the messages could become too old and then gmapping can'

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2021-04-16 02:28:47 -0500 marked best answer [ROS2 foxy] Random speed when using navigation 2

Hello,

I have been trying to use the navigation2 stack with a real robot recently. The robot is diff-drive if it matters.

My issue is that the robot does not seem to follow the max_vel_x parameter value. I have been testing the robot making it plan in a straight line (no obstacles) and i have reduced the inflation parameter so the robot is always in free space for the test.

When I set different values for the parameter, the mesured output velocity on the /cmd_vel topic is totally unrelated to the value and seemingly random:

  • max_vel_x: 1.2 => cmd_vel: 0.55
  • max_vel_x: 0.6 => cmd_vel: 0.6
  • max_vel_x: 0.8 => cmd_vel: 0.575
  • max_vel_x: 1.0 => cmd_vel: 0.45

Here is my parameter file for the controller:

controller_server:
ros__parameters:
    use_sim_time: True
    controller_frequency: 10.0
    min_x_velocity_threshold: 0.001
    min_y_velocity_threshold: 0.5
    min_theta_velocity_threshold: 0.001
    progress_checker_plugin: "progress_checker"
    goal_checker_plugin: "goal_checker"
    controller_plugins: ["FollowPath"]

progress_checker:
    plugin: "nav2_controller::SimpleProgressChecker"
    required_movement_radius: 0.5
    movement_time_allowance: 10.0

goal_checker:
    plugin: "nav2_controller::SimpleGoalChecker"
    xy_goal_tolerance: 0.5
    yaw_goal_tolerance: 0.5
    stateful: True

FollowPath:
    plugin: "dwb_core::DWBLocalPlanner"
    debug_trajectory_details: True
    min_vel_x: -0.1
    min_vel_y: 0.0
    max_vel_x: 1.2
    max_vel_y: 0.0
    max_vel_theta: 0.6
    min_speed_xy: 0.1
    max_speed_xy: 1.2
    min_speed_theta: 0.0
    acc_lim_x: 4.0
    acc_lim_y: 0.0
    acc_lim_theta: 5.0
    decel_lim_x: -2.5
    decel_lim_y: 0.0
    decel_lim_theta: -3.2
    vx_samples: 5
    vy_samples: 1
    vtheta_samples: 20
    sim_time: 1.7
    linear_granularity: 0.05
    angular_granularity: 0.025
    transform_tolerance: 0.2
    xy_goal_tolerance: 0.25
    trans_stopped_velocity: 0.25
    short_circuit_trajectory_evaluation: True
    stateful: True
    critics: ["RotateToGoal", "Oscillation", "ObstacleFootprint", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
    BaseObstacle.scale: 0.02
    PathAlign.scale: 12.0
    PathAlign.forward_point_distance: 0.1
    GoalAlign.scale: 64.0
    GoalAlign.forward_point_distance: 0.325
    PathDist.scale: 64.0
    GoalDist.scale: 12.0
    RotateToGoal.scale: 64.0
    RotateToGoal.slowing_factor: 5.0
    RotateToGoal.lookahead_time: -1.0

controller_server_rclcpp_node:
ros__parameters:
    use_sim_time: True

Any idea on what could cause this issue ?

2021-04-16 02:28:40 -0500 answered a question [ROS2 foxy] Random speed when using navigation 2

I forgot I had this question opened. If anyone stumbles upon the same issue my problem was the local costmap was too sho

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2021-02-19 02:07:08 -0500 commented answer [ROS2 foxy] Interactive marker server inside a Rviz plugin

This worked, I can now use the rviz node for my server. However I can't see my markers and the server seems stuck in a k

2021-02-19 01:20:27 -0500 commented question [ROS2 foxy] Interactive marker server inside a Rviz plugin

Yes I do make the call, I will try to delay the init of the server as suggested

2021-02-18 09:08:02 -0500 asked a question [ROS2 foxy] Interactive marker server inside a Rviz plugin

[ROS2 foxy] Interactive marker server inside a Rviz plugin Hello, I have a combination a tool and panel in Rviz that sh

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2021-02-09 04:27:08 -0500 asked a question [ROS2 foxy] Random speed when using navigation 2

[ROS2 foxy] Random speed when using navigation 2 Hello, I have been trying to use the navigation2 stack with a real rob

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2020-12-01 08:22:30 -0500 edited answer How to configure Nav2 for a non-circular robot?

Hello, I had to dig a bit into this myself as the issue also appeared for my robot. I will assume you are using default

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2020-12-01 08:20:20 -0500 answered a question How to configure Nav2 for a non-circular robot?

Hello, I had to dig a bit into this myself as the issue also appeared for my robot. I will assmue you are using default

2020-12-01 07:30:24 -0500 marked best answer [foxy] Is there any equivalent of matrix transformations for tf2 in ros 2 ?

Hello,

In Ros1 you could use functions from these imports:

from tf_matrix_ops import tf_to_matrix, matrix_to_tf 
from tf.transformations import decompose_matrix

where you could transform tf to matrix then multiply them, take the inverse or extract informations from them.

I have a code sample that do the following and I would like to know if it is possible to do the same with ros2 and tf 2:

 m1 = tf_to_matrix(tf1)  
 m2 = tf_to_matrix(tf2)
 delta = np.matmul(m1, np.linalg.inv(m2)) 
 scale, shear, angles, t, perspective = decompose_matrix(delta)

I think the tf_matrix_ops and tf.transformations are not available in ros2 (or at least i did not find them) so maybe there is a new way to do this kind of thing ?

2020-12-01 07:30:20 -0500 answered a question [foxy] Is there any equivalent of matrix transformations for tf2 in ros 2 ?

An update on this question: I realised that "tf_matrix_ops is actually" a homemade package I wrote some time ago... For

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2020-11-23 06:52:51 -0500 commented question How to configure Nav2 for a non-circular robot?

I'm not sure this is the issue but you should try to add the ObstacleLayer plugin to the local costmap

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2020-11-19 04:23:22 -0500 asked a question [foxy] Is there any equivalent of matrix transformations for tf2 in ros 2 ?

[foxy] Is there any equivalent of matrix transformations for tf2 in ros 2 ? Hello, In Ros1 you could use functions from

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2020-11-16 05:38:46 -0500 asked a question [foxy] Different results when using xacro from launch and command line

[foxy] Different results when using xacro from launch and command line Hello, I have a .xacro file I want to convert to

2020-11-16 05:37:06 -0500 asked a question [foxy] Using xacro inside and out of launch file gives different results

[foxy] Using xacro inside and out of launch file gives different results Hello, I have a .xacro file I want to convert

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2020-07-17 03:52:57 -0500 commented answer Can I create a virtual environment for Python 3?

Well there is no tricky parts so basically just following a simple socket tutorial should be enough: https://realpython.

2020-07-17 01:17:22 -0500 answered a question Can I create a virtual environment for Python 3?

Hello, ROS kinetic is not compatible with ROS 3. However I had a similar use case (using python 3 for object detection)

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